CN107010054B - Control system and control method - Google Patents
Control system and control method Download PDFInfo
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- CN107010054B CN107010054B CN201710017352.1A CN201710017352A CN107010054B CN 107010054 B CN107010054 B CN 107010054B CN 201710017352 A CN201710017352 A CN 201710017352A CN 107010054 B CN107010054 B CN 107010054B
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000007613 environmental effect Effects 0.000 claims abstract description 45
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 230000009466 transformation Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Mathematical Physics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Control system and control method.Control system is suitable for applying in the car, and is intended to detect based on the environmental data obtained from the environmental sensor being arranged on vehicle with rear vehicle.Environmental sensor is suitable for providing environmental data to control system.Control system is adapted at least to and is intended to be detected other the one or more vehicles for the wagon flow for participating in own vehicle back with environmental sensor.Detection and other each vehicles are associated, other vehicles are in the lane wherein travelled.It determines and has lane and/or the vehicle density of at least one adjacent lane by oneself as caused by other vehicles.Based on identified vehicle density, (i) instruction of the safe or dangerous lane changing about the specific lane at least one adjacent lane is exported, and/or (ii) goes to the autonomous lane changing in the specific lane at least one adjacent lane by having vehicle by oneself if identified vehicle density allows safe lane changing.
Description
Technical field
Disclosed herein is control system and determine the safe lane transform method carried out by vehicle.The system and method are specific
Based on the environment sensor system in vehicle, and driver is supported to execute the safe lane changing of vehicle, such as vehicle
Manipulation of overtaking other vehicles.In the vehicle of autonomous control, the safety of vehicle occupant is improved.
Background technique
In order to enable the traveling of vehicle is safer, (ADAS- Senior Officer assists system to current driver assistance system
System) multiple monitorings and prompt facility are provided in the car.At this point, based on from the one or more rings being arranged on vehicle
The environment for the monitoring environmental data vehicle that the stroke about own vehicle that border sensor obtains advances.
Known driver assistance system for example monitors whether vehicle is located in lane and driver is to float to unintentionally
The side in lane still will leave lane.Even so-called " blind monitoring device " belongs to current driver assistance system.This
A little systems for example determine whether another vehicle, road user or right by means of radar, laser radar (lidar), video etc.
As causing to collide in changing Lane or turn in the side of vehicle and/or back.
In the vehicle of being driven by people, these systems mainly provide prompt facility, to alert driver's emergency or right
The manipulation answered.In order to provide corresponding environmental data to autonomous control device, driver assistance system can even be applied equally to
In autonomous control vehicle.
Summary of the invention
Technical problem
Along the road that a driving direction has multiple lanes, if correctly judgement or correct identification is below
Wagon flow, then the lane changing from " relatively slow " lane to the lane with very fast vehicle can have fatal consequence.From " relatively slow "
Lane to such as overtaking lane (thus such as in Continental Europe or the U.S. be from right lane to left-lane) lane changing usually
Another vehicle before meaning that own vehicle must be observed, and at the same time must estimate the speed of subsequent wagon flow in overtaking lane
Degree.In Germany, specifically, high speed difference be likely to be present in overtaking lane vehicle in front (and own vehicle) with rear car
Between.Here the speed difference of 100km/h is commonplace.
Due to the speed difference, the possible subsequent wagon flow of false judgment.Even driver assistance system is problematic herein,
Because they are usually detected another vehicle too late or are recognized too late and collided with the possibility of the vehicle due to its speed.
The technical solution of proposition
A kind of control system, the control system are suitable for and are intended to apply in vehicle or motor vehicles, are based on existing from setting
The environmental data that one or more environmental sensors on vehicle obtain is detected with rear vehicle.For this purpose, environmental sensor be suitable for
The electronic controller (ECU) of control system provides before reflection vehicle, the environment number on lateral side and/or subsequent region
According to.Control system be adapted at least to and be intended to be detected with environmental sensor the wagon flow for participating in own vehicle back it is one or more its
His vehicle.Control system is adapted at least to and is intended to detect and any other vehicle is associated, other vehicles are in the vehicle wherein travelled
Road.Control system is adapted at least to and is intended to determine the vehicle density of own lane and/or adjacent lane.Control system is adapted at least to
And be intended to based on identified vehicle density, (i) export about the specific lane at least one adjacent lane safety or
The instruction of dangerous lane changing, and/or (ii) if identified vehicle density allows safe lane changing, by having vehicle by oneself
Go to the autonomous lane changing in the specific lane at least one adjacent lane.
In traditional environment and auxiliary system, only detection is located at other vehicles in the subsequent region of own vehicle.
If applicable, then the speed between another vehicle and own vehicle is additionally determined.Position based on other vehicles and/or at it
Speed difference between his vehicle and own vehicle, output instruction, driver notification from the instruction to own vehicle about other
The presence of vehicle or the close own vehicle of other vehicles.It does not provide in conventional systems to the driver of own vehicle about own vehicle
Lane changing whether may cause the specifying information with the dangerous situation of another vehicle.
The driver that technique proposed herein scheme is particularly adapted to own vehicle wishes the case where executing lane changing.If
He the subsequent wagon flow of false judgment or does not see another vehicle and watching in rearview mirror, then is preferably led to by this control system
Know him and/or alerts him about dangerous situation.Even in autonomous control vehicle, the lane changing independently executed is such as overtaken other vehicles
Manipulation, becomes safer.
Other modifications and advantageous development
During control system may be adapted to and be directed at predetermined amount of time or continuously detect other vehicles and detect and its
The associated lane of his vehicle.Then control system can determine vehicle density, and detect own vehicle with time going by
And other vehicles travel situations and assess travel situations about safety operation to determine time point, at the time point it
After be able to carry out the safe lane changing.
Allow to determine the trend of wagon flow situation to the detection of other one or more vehicles during predetermined amount of time.Example
Such as, it is to increase or reduce to carry out monitoring car that control system, which may be adapted to and be intended to be conceived to the vehicle density in one or more lanes,
Current density.Referring to the trend (development), control system can determine (may be also in future) time point, at the time point it
Afterwards, lane is very likely to the preferred vehicle density for lane changing or manipulation of overtaking other vehicles.
In addition, control system may be adapted to and be intended to for vehicle density being compared with threshold value, if vehicle density is more than
Lane changing is then evaluated as safety by threshold value, and if vehicle density is lower than threshold value, lane changing is evaluated as uneasiness
Entirely.
For this purpose, control system is suitable for and is intended to for example determine the vehicle density in each lane in lane, and if each list
The vehicle density in only lane is more than threshold value, then lane changing is evaluated as safety.Control system is likewise applicable to and is intended to: such as
The vehicle density of fruit at least adjacent lane is lower than threshold value, then is evaluated as lane changing dangerous.Alternatively, control system is suitable for
And it is intended to determine the vehicle density across whole lanes, and if the vehicle density across whole lanes is more than threshold value, by lane
Transformation is evaluated as safety, and/or if the vehicle density across whole lanes is lower than threshold value, lane changing is evaluated as uneasiness
Entirely.
The detection of vehicle density provides the advantage that evaluate safety/dangerous lane changing, by another vehicle whether
It may be taken into account a possibility that own vehicle close with big speed difference.Vehicle density is higher, and another vehicle is to approach at a high speed
A possibility that own vehicle, is lower.If only executing lane changing or manipulation of overtaking other vehicles when there are higher vehicle density, drop
It is low due to the quick not controlled system detection of other vehicles to and a possibility that cause accident.
For this purpose, control system can be adapted to and be intended to according to be located at the own vehicle back presumptive area in,
The quantity of other vehicles in corresponding lane determines the vehicle density in each lane in the lane.Determine other vehicles
Quantity can be carried out by means of environmental sensor or multiple environmental sensors.By using detect own vehicle back and
Multiple environmental sensors in lateral subsequent region, or even detect to be hidden by first other vehicles and pass using single
Multiple vehicles unrecognized when sensor, in same lane.
The other side of proposed technical solution is related to a kind of control method, which is based in the car from setting
The environmental data that one or more environmental sensors on vehicle obtain is set to identify with rear vehicle, the control method have with
Lower step:
It is provided before reflection vehicle by means of electronic controller of the environmental sensor into own vehicle, lateral side
And/or the environmental data in subsequent region；
Other one or more vehicles of the wagon flow of own vehicle back are participated in environmental sensor detection；
Detection and other each vehicles are associated, other vehicles are in the lane wherein travelled；
Determine own lane and/or the vehicle density of at least one adjacent lane；And
Based on identified vehicle density, (i) safety of the output about the specific lane at least one adjacent lane
Or the instruction of dangerous lane changing, and/or (ii) if identified vehicle density allow safety lane changing, by from
There is vehicle to go to the autonomous lane changing in the specific lane at least one adjacent lane.
Detailed description of the invention
Other purposes, feature, advantage and application option are referring to related attached drawing by being understood not to actually showing for limitation
Generation is described below in example.Here, the feature for being described and/or illustrating is shown here by themselves or in any combination
Disclosed purpose.The size and ratio of component shown in the drawings are not required in this case as equal proportion；They can
To deviate with the content shown in the embodiment to be implemented here.
Fig. 1 is schematically illustrated in the traveling feelings that own vehicle is travelled in middle lane while monitoring subsequent wagon flow
Condition.
Specific embodiment
Fig. 1 diagrammatically illustrates travel situations, under the travel situations, has vehicle ego (for example, motor vehicles) by oneself more
It is travelled in the middle lane M of lane (being here three lanes) road.Other vehicles are located in other lanes.Other vehicles alter_
Thus 1 travels in left-hand lane L, second other vehicles travel in middle lane M, and other vehicles of third alter_n exists
It is travelled in right-hand lane R.In the case where described herein, it is assumed that vehicle in each lane normal speed distribution (for example, for
Continental Europe and the U.S.) so that other vehicles alter_1 is faster than own vehicle ego.
Vehicle ego is had by oneself with the control system with electronic controller ECU (electronic control unit) according to the disclosure.
For example, this control system at least may be adapted to and be intended to the own vehicle ego of use environment sensor detection participation by means of ECU
One or more other vehicles alter of subsequent wagon flow.For example, ECU receives signal from environmental sensor, these signals are handled
With associated environmental data, and control and/or output signal are generated.In Fig. 1, disk section is indicated around own vehicle ego
The multiple regions of form, the monitoring region for the radar sensor that multiple area identification is not described in further detail.Radar sensing
Device provides the radar signal of the distance about other vehicles alter_1 to alter_n to electronic controller ECU.Accordingly, ECU can
To calculate speed difference, other vehicles between own vehicle ego and corresponding other vehicles alter during specific monitoring period of time
Direction of travel, and if applicable, also calculate rotation angle of other vehicles alter around its vertical axis.Alternatively, the letter
Breath can also be calculated alternatively by radar sensor and be sent directly to ECU.
Environmental sensor continuously detect participate in front of own vehicle ego, one of lateral side and/or subsequent wagon flow or
Multiple other vehicles alter, to determine the parameter of the travel situations about other vehicles.These parameters are for example including other vehicles
Speed, change with the time position, driving direction.
It is described here and be suitable for and be intended for the control system in vehicle other than with radar sensor or replace
Radar sensor also has other environmental sensors, ambient enviroment of the environmental sensor for example for detecting own vehicle ego
And it is operated using different technologies (video, ultrasound, laser radar etc.).Electronic controller ECU processing is from being arranged in vehicle
On the environmental data that obtains of environmental sensor (radar sensor), with determine whether another vehicle alter in same lane or
There is what relative to own vehicle ego movement and another vehicle with what speed or with own vehicle in adjacent lane
Speed difference.For this purpose, environmental sensor provides reflection vehicle front, lateral side and/or subsequent region to electronic controller ECU
Environmental data.
In addition, control system or electronic controller ECU can detecte and any other vehicle alter is associated, the vehicle
Alter is in the lane wherein travelled.The detection in corresponding lane is referred to come from the lateral distance of the longitudinal axis of own vehicle ego
Occur.Controller ECU can determine the lateral distance by means of for example single environmental sensor, detect own vehicle ego
Subsequent region 101.As shown in Figure 1, single environmental sensor can only monitor directly in the narrow region 101 of vehicle back and defeated
Out about another vehicle alter being located therein to induction signal.The vehicle being fully located in the narrow region 101 can be identified
For the vehicle in lane M identical as own vehicle ego.
Alternatively or additionally, single environmental sensor can be used also to determine lateral distance in controller ECU, monitors
The side vehicle ego is had by oneself to subsequent region 102,103.If the environmental sensor is after monitoring is positioned to own vehicle ego
The environmental sensor in the region 102 of left side of face, then left-hand lane L can be detected as and another associated lane vehicle alter.
By determining the lateral distance to own vehicle ego, even if can also be identified and another vehicle in the case where multiple adjacent lanes
The associated lane alter.For this purpose, can also be using the threshold value dependent on predetermined lane width come by lateral distance and the threshold
Value detects the corresponding lane of another vehicle alter in the case where comparing.
Similarly, alternatively or additionally, multiple environmental sensors can be used to determine another vehicle in controller ECU
The lateral distance of alter to own vehicle ego, such as one or more by means of the rear area 101 for having vehicle ego by oneself
A sensor and one or more sensors at least one side zones 102,103.It is examined by using multiple sensors
Another vehicle alter is surveyed, can detecte the position and associated lane of another vehicle alter.
In addition, controller ECU can determine the vehicle density of own lane M and/or at least one adjacent lane L, R.?
It has been directed to and has participated in each after in addition other vehicles alter determines associated lane of wagon flow, can determine each lane or across complete
The vehicle density in portion lane.The vehicle density in lane can mean that one or more vehicles are located at or not in the simplest case
In the lane.Vehicle density can be assumed value zero (0) and one (1) as a result,.
Controller ECU is thereby adapted for and is intended to identify even empty lane, thereby determines that without other parking stalls in specific vehicle
In road.This can be referring additionally to other vehicles alter to calculating each other and/or to the lateral distance of own vehicle ego.Even
The object that in lane and/or side can be assessed is detected with the distance between other vehicles alter and/or own vehicle ego
Whole lanes.In this case, it at the position in the independent lane of determination, can reuse corresponding to the predetermined of lane width
Threshold value.
If it have been determined that the wagon flow of own lane and/or at least one adjacent lane as caused by other vehicles is close
Degree, then control system or controller ECU can be based on identified vehicle density, and (i) output is about at least one adjacent vehicle
The instruction of the safe or dangerous lane changing in the specific lane in road, and/or (ii) if identified vehicle density allow
Safe lane changing then goes to the autonomous lane changing in the specific lane at least one adjacent lane by having vehicle ego by oneself.
It can be shown to the driver of own vehicle ego about the instruction of safety/dangerous lane changing, such as can be
In display in instrument board, in rearview mirror (also inside outside mirror) and/or by means of after by suitable symbol to vehicle
The projection of windshield and/or front windshield.Alternatively or additionally, instruction can also be exported in the sense of hearing or tactile.
Other vehicles alter during control system is further adapted for and is directed at predetermined time period or continuously is detected, is detected
With the associated lane other vehicles alter, and determine vehicle density.In such a case, it is possible to come with time going by
The travel situations of own vehicle ego and other vehicles alter are detected, and are assessed to determine time point about safety operation
Travel situations are able to carry out the safe lane changing after this point.Predetermined amount of time can be set to certainly
There is vehicle ego speed and changes.For example, the biggish period can be selected as the speed of own vehicle ego improves, with more
The dangerous situation due to caused by fair speed is avoided well.
In another modification, control system is suitable for and is intended to for vehicle density being compared with threshold value, if wagon flow is close
Degree is more than threshold value, then lane changing is evaluated as safety, and if vehicle density is lower than threshold value, such as illustrated above, will
Lane changing is evaluated as dangerous and/or output instruction.
In order to determine that vehicle density, controller ECU assess the quantity of other vehicles alter of every predetermined segment.Environment passes
Sensor usually has maximum detection range, thus has the maximum distance that can identify vehicle and/or object.The maximum identification away from
From can be 300m for some systems.Therefore, predetermined segment can be determined as the maximum detecting distance by controller ECU.Separately
Selection of land, controller ECU predefined section can be selected as with own vehicle ego velocity variations or with other vehicles
One or more speed differences of alter and change.Be then based on detect in other subsequent vehicles of own vehicle ego
The quantity of alter determines vehicle density.Vehicle density for example by by the quantity of detected vehicle divided by predefined section and/
Or it is calculated divided by lane quantity.
Calculated vehicle density is compared by controller ECU with threshold value now.The threshold value can be predetermined threshold, should
Predetermined threshold can store in the way of it can be accessed by controller ECU as corresponding calculated vehicle density changes.Threshold
Value indicates the feature of vehicle density, in the case where being higher than the vehicle density, as vehicle density increases, it is believed that is located at own lane
Lane L, R safety beside ego.This specifically has following background: most of wagon flow in lane with vehicle density increase and
There is lesser speed difference between own vehicle ego and other vehicles alter.Due to lesser speed difference, it is located at own vehicle
Lane L, R beside ego and the lane changing about these lanes are safer.Under low vehicle density, Ling Yiche
Alter can be easy with high speed difference close to own vehicle ego.In such a case it is necessary to will be close to own vehicle ego
Lane think dangerous.This applies also for what quick other vehicles alter was not detected by any of environmental sensor
Situation.
Addition or alternatively, control system may be adapted to and be intended to determine the vehicle density in each lane in lane, and
If the vehicle density in each independent lane is more than threshold value, which is evaluated as safety, and/or if at least adjacent vehicle
The vehicle density in road is lower than threshold value, then is evaluated as the lane changing dangerous.For this purpose, by by the spy in above-mentioned predetermined segment
The quantity for determining other vehicles alter in lane calculates vehicle density divided by predetermined segment.In this case, also by wagon flow
Density is compared with corresponding threshold value, and it is safe or dangerous to evaluate each lane.In turn, if vehicle density is greater than threshold
Value, then it is assumed that lane safety, and if vehicle density is less than threshold value, then it is assumed that lane is dangerous.
Legacy system, which is only determined with the speed difference of other vehicles alter, alerts the driver of own vehicle ego about this
It plants close to vehicle.For that purpose it is necessary to detect at least one other vehicle alter by least one environmental sensor, and in spy
" observation " other vehicles during section of fixing time.Otherwise, speed difference only can be inaccurately determined very much.However, due to this point,
Other vehicles alter is only just being be evaluated as risk for a long time later.
This control system provides on the other hand is assessed as lane about in the case where indefinite detection particular vehicle
Safe or unsafe advantage.Thus, it is possible to avoid or reduce to collide have high speed difference with own vehicle ego anyway
Vehicle.Equally, this control system can be for example used in autonomous driving vehicle, be become with can safely execute autonomous lane
Change, such as independently overtake other vehicles manipulate when.
Above-mentioned variant and its building and operating aspect are only used to more fully understand structure, operation mode and attribute；They
For example actual example is not limited to it by open.Attached drawing is partially schematic, wherein is repaired to illustrate function, effective principle, technology
Change and feature, it is greatly enlarged in some cases that essential attribute and effect are shown.Disclosed in attached drawing or text, here
Each operation mode, each principle, each technology modification and each feature can be with each features in text and other accompanying drawings, other operations
The feature for containing in mode, principle, technology modification and the disclosure or being generated by the disclosure freely and in any way combines, and makes
All combinations being contemplated that are obtained to be associated with the variant.It even include (meaning in each chapters and sections of specification) in text, all only
The combination between different variants in combination and text between vertical embodiment and in attached drawing.It does not limit all shown
A possibility that feature is combined with each other out.All disclosed features it is clear and independent herein and with every other feature in combination
It is open.
Claims (10)
1. a kind of control system, which is suitable for the application of in vehicle and is intended to based on from being arranged on the vehicle
The environmental data that one or more environmental sensors obtain is detected with rear vehicle, wherein the environmental sensor is suitable for institute
It states before the electronic controller offer reflection vehicle of control system, the ring on lateral side and/or subsequent region
Border data, and wherein, the control system is adapted at least to and is intended to:
Other one or more vehicles of own vehicle (ego) subsequent wagon flow are participated in environmental sensor detection
(alter),
Detection and other each vehicles (alter) are associated, other described vehicles (alter) are in the lane (L, M, R) wherein travelled,
Determine own lane (L) and/or the vehicle density of at least one adjacent lane (M, R), wherein by will be detected
The quantity of other one or more vehicles (alter) is divided by the own lane (L) and/or at least one adjacent lane (M, R)
Predefined section, and/or by by the quantity of other detected one or more vehicles (alter) divided by detected
Lane (L, M, R) quantity, to calculate the vehicle density, and
Based on identified vehicle density, (i) export about the specific lane at least one adjacent lane (M, R) described in
The instruction of safe or dangerous lane changing, and/or (ii) if identified vehicle density allows safe lane changing, by
The autonomous lane in the specific lane that the own vehicle (ego) goes at least one described adjacent lane (M, R) becomes
It changes.
2. control system according to claim 1, during the control system is suitable for and is directed at predetermined amount of time or even
Other described vehicles (alter), detection and the associated lane (M, R) of other described vehicles (alter) are detected continuously, are determined
The vehicle density, and detect the own vehicle (ego) and other vehicles (alter) with time going by
Travel situations simultaneously assess travel situations about safety operation to determine time point, are able to carry out after this point described
Safe lane changing.
3. control system according to claim 1, the control system is suitable for and is intended to the vehicle density and threshold value
It is compared, if the vehicle density is more than the threshold value, lane changing is evaluated as safety, and if the wagon flow
Density is lower than the threshold value, then is evaluated as lane changing dangerous.
4. control system according to claim 3, the control system is suitable for and is intended to determine in the lane (L, M, R)
The vehicle density in each lane, and if the vehicle density in each lane is more than institute in the lane (L, M, R)
Threshold value is stated, then lane changing is evaluated as safety, and/or if the vehicle density of at least described adjacent lane (M, R) is low
In the threshold value, then lane changing is evaluated as dangerous；Or determine the vehicle density across whole lanes (L, M, R),
And if the vehicle density across whole lanes (L, M, R) is more than the threshold value, lane changing is evaluated as safety,
And/or if the vehicle density at least across whole lanes (L, M, R) is lower than the threshold value, lane changing is evaluated as not
Safety.
5. control system according to claim 3, the control system is suitable for and is intended to according to positioned at the own vehicle
(ego) in subsequent presumptive area, the quantity of other vehicles (alter) in corresponding lane (L, M, R), determine the vehicle
The vehicle density in each lane in road (L, M, R).
6. a kind of control method, the control method based on environmental data for being detected in the car with rear vehicle, the environment number
It is obtained according to from the one or more environmental sensors being arranged on the vehicle, which has follow steps:
Reflected before the vehicle by means of electronic controller offer of the environmental sensor in own vehicle (ego),
The environmental data on lateral side and/or subsequent region；
Other the one or more vehicles for participating in the subsequent wagon flow of the own vehicle (ego) are detected with the environmental sensor
(alter)；
Detection and other each vehicles (alter) are associated, other described vehicles (alter) are in the lane (L, M, R) wherein travelled；
Determine own lane (L) and/or the vehicle density of at least one adjacent lane (M, R), wherein by will be detected
The quantity of other one or more vehicles (alter) is divided by the own lane (L) and/or at least one adjacent lane (M, R)
Predefined section, and/or by by the quantity of other detected one or more vehicles (alter) divided by detected
Lane (L, M, R) quantity, to calculate the vehicle density；And
Based on identified vehicle density, (i) export about the specific lane at least one adjacent lane (M, R) described in
The instruction of safe or dangerous lane changing, and/or (ii) if identified vehicle density allows safe lane changing, by
The autonomous lane in the specific lane that the own vehicle (ego) goes at least one described adjacent lane (M, R) becomes
It changes.
7. control method according to claim 6, wherein to the detections of other vehicles (alter), to it is each other
The detection in the associated lane vehicle (alter) (M, R) and to the vehicle density determine occur in the predetermined time period phase
Between or continuously occur, the control method the following steps are included:
It detects the travel situations of the own vehicle (ego) and other vehicles (alter) with time going by and is
Determining time point and assess the travel situations about safety operation, be able to carry out the safe lane after this point
Transformation.
8. control method according to claim 6, the control method the following steps are included:
The vehicle density is compared with threshold value；And
If the vehicle density is more than the threshold value, lane changing is evaluated as safety, and if the vehicle density
Lower than the threshold value, then lane changing is evaluated as dangerous.
9. control method according to claim 8, wherein determine the vehicle in each lane in the lane (L, M, R)
Current density, and if the vehicle density in each independent lane (L, M, R) is more than the threshold value, lane changing is evaluated as
Safety, and/or if the vehicle density at least corresponding to adjacent lane (M, R) comments lane changing lower than the threshold value
Valence is dangerous；Or determine the vehicle density across whole lanes (L, M, R), and if across whole lanes (L, M, R)
The vehicle density be more than the threshold value, then lane changing is evaluated as safety, and/or if across whole lanes (L, M, R)
The vehicle density be lower than the threshold value, then lane changing is evaluated as dangerous.
10. control method according to claim 8, wherein according to positioned at the subsequent fate of the own vehicle (ego)
The quantity of other vehicles (alter) in domain, in corresponding lane (L, M, R), determines each vehicle in the lane (L, M, R)
The vehicle density in road.
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| Application Number | Priority Date | Filing Date | Title |
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| DE102016000199.2A DE102016000199A1 (en) | 2016-01-11 | 2016-01-11 | Control system and method for determining a safe lane change by motor vehicles |
| DE102016000199.2 | 2016-01-11 |
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| CN107010054A CN107010054A (en) | 2017-08-04 |
| CN107010054B true CN107010054B (en) | 2019-08-02 |
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| US (1) | US10163353B2 (en) |
| CN (1) | CN107010054B (en) |
| DE (1) | DE102016000199A1 (en) |
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| DE102016205434A1 (en) * | 2015-11-25 | 2017-06-01 | Volkswagen Aktiengesellschaft | Method and system for creating a lane-accurate occupancy map for lanes |
| JP6310503B2 (en) * | 2016-06-06 | 2018-04-11 | 本田技研工業株式会社 | Vehicle and lane change timing determination method |
| JP6572880B2 (en) * | 2016-12-28 | 2019-09-11 | トヨタ自動車株式会社 | Driving assistance device |
| US10290214B2 (en) * | 2017-04-11 | 2019-05-14 | Denso International America, Inc. | Lane change system and lane change controller |
| JP6958385B2 (en) * | 2018-01-24 | 2021-11-02 | トヨタ自動車株式会社 | Vehicle control system |
| CN108198460B (en) * | 2018-02-26 | 2021-10-29 | 周姣 | Intelligent lane changing method for vehicle and vehicle |
| US10614717B2 (en) * | 2018-05-17 | 2020-04-07 | Zoox, Inc. | Drive envelope determination |
| DE102018213378B4 (en) | 2018-08-09 | 2021-01-28 | Bayerische Motoren Werke Aktiengesellschaft | Driver assistance system for a vehicle, vehicle with the same and driver assistance method for a vehicle |
| DE102018216364B4 (en) * | 2018-09-25 | 2020-07-09 | Volkswagen Aktiengesellschaft | Method and device for supporting a lane change process for a vehicle |
| US11086327B2 (en) * | 2018-11-05 | 2021-08-10 | Wipro Limited | Method and system for determining safe navigation of autonomous vehicle |
| DE102018219391B4 (en) * | 2018-11-14 | 2021-05-20 | Honda Motor Co., Ltd. | Vehicle control device, vehicle control method, and vehicle control program |
| CN109727469B (en) * | 2019-01-08 | 2021-04-20 | 南京航空航天大学 | Comprehensive risk degree evaluation method for automatically driven vehicles under multiple lanes |
| CN110979330B (en) * | 2019-12-04 | 2021-09-21 | 福瑞泰克智能系统有限公司 | Vehicle lane change control method and device and vehicle |
| JP7302584B2 (en) * | 2020-12-16 | 2023-07-04 | トヨタ自動車株式会社 | speed controller |
| US11935404B2 (en) | 2021-03-24 | 2024-03-19 | Toyota Motor Engineering & Manufacturing North America, Inc. | Integrated congested mitigation for freeway non-recurring queue avoidance |
| TWI803329B (en) * | 2022-05-26 | 2023-05-21 | 和碩聯合科技股份有限公司 | Driving assistance system and driving assistance method |
| CN115346397B (en) * | 2022-07-18 | 2023-06-23 | 岚图汽车科技有限公司 | Traffic flow positioning passing method, system, storage medium and equipment |
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| DE102012214979A1 (en) * | 2012-08-23 | 2014-02-27 | Robert Bosch Gmbh | Traction Assistant to optimize traffic flow (Traffic Flow Assistant) |
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| CN107010054A (en) | 2017-08-04 |
| US20170200371A1 (en) | 2017-07-13 |
| DE102016000199A1 (en) | 2017-07-13 |
| US10163353B2 (en) | 2018-12-25 |
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